Nearly all cameras will produce distorted images due to imperfections in the manufacturing process and effects added by the lens used. Camera calibration provides a couple of useful pieces of information to combat this distortion. Using the OpenCV \emph{findChessBoardCorners} and \emph{calibrateCamera} functions the program is able to determine the Camera Matrix and the Distortion Coefficients for each camera in the array. These pieces of information are then saved to files that can easily be read back in when needed. The images captured from the camera can then be undistorted using the \emph{undistort} function. Currently the program does not undistort the images because it was found to have little effect on the images captured from these cameras. 

The calibration of the cameras not only has the potential to remove intrinsic distortion effects from the low quality camera but it also provides us with the focal length information for each camera.  The focal length can then be used to provide a fairly accurate real-world distance estimation during the depth map generation stage.
